Initial condition rotating cylinder in nonlinear dynamic simulation?

I have a simulation that I am attempting to do...largely unsuccessfully to this point. One of the parts I'm trying to get information on is a cylinder. That cylinder is rotating at a constant RPM and is doing so at the start of the simulation. I'm not seeing anything that will set the initial condition for RPM of a cylinder. I can get there a couple different ways but they all require acceleration which I don't want or need.

Is there a way to set the initial condition as the cylinder rotating at a certain RPM?